2A1-G22 人物追従ロボットの実現とその実験的評価

概要

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This paper describes person following of a mobile robot in dynamic and complex environments. We use the cafeteria of our university as an example of such environments. First, we developed a communication program between PC and an electric wheelchair so that the wheelchair can be controlled by PC. We then made a motion set for path planner by measuring the turning radius and the speed for pairs of the speed commands for the right and the left wheel. We developed an experimental system by installing software for path planning, map generation with a laser range finder (LRF), and person detection using stereo on the wheelchair. In addition, we made data logger which records the processing results such as generated maps and person detection results for debugging. We applied the system to the person following experiments and found the person detection failure is one of the remaining problems to solve. We also discuss future work.
一般社団法人日本機械学会の論文